Trapped vehicle escape state recognition control method, device and system

Abstract

The embodiment of the invention provides a trapped vehicle escape state recognition control method, device and system, and the method comprises the steps: obtaining the wheel speed, wheel acceleration, vehicle speed and vehicle acceleration of a target vehicle; determining a wheel slip rate based on the wheel speed and the vehicle speed; determining the wheel slip number based on the wheel slip rate; based on the vehicle speed, the wheel slip rate, the wheel slip number, the vehicle acceleration and the wheel acceleration, the current state of the target vehicle is determined; the target vehicle speed of the target vehicle is corrected based on the current state, and the target vehicle speed is used for guiding the target vehicle to run. The technical problems that in the prior art, when the vehicle speed is low, the vehicle trapping state of the vehicle cannot be accurately judged, and the vehicle cannot be controlled to be out of trap according to the accurate vehicle trapping state are solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of control technology, and more particularly to a method, device and system for identifying and controlling a stuck vehicle escape status. Background Art

[0002] If a vehicle is stuck in the desert or mud and cannot be manually operated to get the vehicle out of trouble, the Cruise Control Offroad (CCO) system function is turned on and the system automatically controls the vehicle to get out of trouble. However, how to accurately identify the state of the vehicle when it is stuck and control the vehicle to get out of trouble according to the vehicle state has become a problem of widespread concern.

[0003] No effective solution has been proposed for the above problems yet. Summary of the invention

[0004] The embodiments of the present application provide a method, device and system for identifying and controlling the vehicle's escape status when stuck, aiming to improve the technical problems in the related art that when the vehicle speed is low, the vehicle's stuck status cannot be accurately judged, and the vehicle's escape status cannot be controlled according to the precise vehicle stuck status.

[0005] An embodiment of the present application provides a method for identifying and controlling a vehicle being stuck and escaping from a stuck vehicle, comprising: obtaining the wheel speed, wheel acceleration, vehicle speed and vehicle acceleration of a target vehicle; determining the wheel slip rate based on the wheel speed and vehicle speed; determining the number of wheel slips based on the wheel slip rate; determining the current state of the target vehicle based on the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration; and correcting a target speed of the target vehicle based on the current state, wherein the target speed is used to guide the driving of the target vehicle.

[0006] The above-mentioned vehicle stuck state identification and control method can accurately judge the vehicle stuck state and correct the target vehicle speed according to the vehicle stuck state, so as to control the vehicle to achieve the purpose of getting out of the stuck state and improve the vehicle's ability to automatically get out of the stuck state.

[0007] Optionally, the current state includes a normal driving state and a pre-trapped vehicle state, and the current state of the target vehicle is determined based on the wheel slip rate, the number of wheel slips, the vehicle acceleration and the wheel acceleration, including: in response to the wheel slip rate, the number of wheel slips, the vehicle acceleration and the wheel acceleration satisfying a first preset condition, determining that the target vehicle switches from the normal driving state to the pre-trapped vehicle state, wherein the first preset condition includes that the number of wheel slips is greater than or equal to a first value, the wheel slip rate of the slipping wheel is greater than the first slip rate, and the difference between the wheel acceleration and the vehicle acceleration is greater than a first threshold.

[0008] Optionally, the current state further includes a stuck state. Based on the vehicle speed, wheel slip ratio, number of slipping wheels, vehicle acceleration, and wheel acceleration, the current state of the target vehicle is determined, including: in response to the vehicle speed, wheel slip ratio, number of slipping wheels, vehicle acceleration, and wheel acceleration satisfying a second preset condition, it is determined that the target vehicle switches from the pre-stuck state to the stuck state, where the second preset condition includes that the number of slipping wheels is greater than or equal to a second value, the wheel slip ratio of the slipping wheels is greater than a second slip ratio, the difference between the wheel acceleration and the vehicle acceleration is greater than a second threshold, and the vehicle speed is less than a first speed, and the second value is greater than the first value, and the second value is not limited here.

[0009] Optionally, the current state further includes a pre-unstuck state. Based on the vehicle speed, wheel slip ratio, and number of slipping wheels, the current state of the target vehicle is determined, including: in response to the vehicle speed, wheel slip ratio, and number of slipping wheels satisfying a third preset condition, it is determined that the target vehicle switches from the stuck state to the pre-unstuck state, where the third preset condition includes that the number of slipping wheels is less than or equal to a third value, the wheel slip ratio of the slipping wheels is less than a third slip ratio, and the vehicle speed is greater than a second speed, and the third value is greater than the second value.

[0010] Optionally, based on the vehicle speed, wheel slip ratio, number of slipping wheels, vehicle acceleration, and wheel acceleration, the current state of the target vehicle is determined, including: in response to the vehicle speed, wheel slip ratio, number of slipping wheels, vehicle acceleration, and wheel acceleration satisfying a fourth preset condition, it is determined that the target vehicle switches from the pre-unstuck state to the normal driving state, where the fourth preset condition includes that the number of slipping wheels is less than or equal to the second value, the wheel slip ratio of the slipping wheels is less than a fourth slip ratio, the difference between the wheel acceleration and the vehicle acceleration is less than a third threshold, and the vehicle speed is greater than a third speed.

[0011] Optionally, based on the wheel slip ratio and the number of slipping wheels, the current state of the target vehicle is further determined, including: in response to the wheel slip ratio and the number of slipping wheels satisfying a fifth preset condition, it is determined that the target vehicle switches from the pre-stuck state to the normal driving state, where the fifth preset condition includes that the number of slipping wheels is less than or equal to the second value, and the wheel slip ratio of the slipping wheels is less than a first slip ratio.

[0012] Optionally, based on the vehicle speed, wheel slip ratio, and number of slipping wheels, the current state of the target vehicle is further determined, including: in response to the vehicle speed, wheel slip ratio, and number of slipping wheels satisfying a sixth preset condition, it is determined that the target vehicle switches from the pre-unstuck state to the stuck state, where the sixth preset condition includes that the number of slipping wheels is greater than or equal to a third value, the wheel slip ratio of the slipping wheels is greater than a third slip ratio, and the vehicle speed is less than a second speed.

[0013] Optionally, the current state includes a normal driving state, a pre-stuck state, a stuck state, and a pre-unstuck state. Modifying the target vehicle speed based on the current state of the target vehicle includes: obtaining the target object's requested vehicle speed, and determining the wheel acceleration change rate based on the wheel acceleration; in response to the target vehicle being in the normal driving state, the target vehicle speed is the target object's requested vehicle speed; or in response to the target vehicle being in the pre-stuck state, determining the target vehicle speed based on the target object's requested vehicle speed, the average value of the wheel slip rates of the slipping wheels, the vehicle speed, and a first preset formula; or in response to the target vehicle being in the stuck state, calibrating the target vehicle speed based on the operating conditions of the target vehicle and a preset speed range; or in response to the target vehicle being in the pre-unstuck state, determining the target vehicle speed based on the vehicle speed, the average value of the wheel accelerations, the average value of the wheel acceleration change rates, and a second preset formula.

[0014] Optionally, determining the vehicle speed based on the wheel speed includes: in response to the target vehicle being in a preset driving state, obtaining the left front wheel speed, the right front wheel speed, the left rear wheel speed, and the right rear wheel speed of the target vehicle; sorting the left front wheel speed, the right front wheel speed, the left rear wheel speed, and the right rear wheel speed, and estimating the vehicle speed based on the second largest wheel speed.

[0015] The embodiment of the present application provides a stuck and unstuck state recognition and control device, including: an acquisition module, the acquisition module is used to acquire the wheel speed, wheel acceleration, vehicle speed, and vehicle acceleration of the target vehicle; a first determination module, the first determination module is used to determine the wheel slip rate based on the wheel speed and the vehicle speed; a second determination module, the second determination module is used to determine the number of slipping wheels based on the wheel slip rate; a third determination module, the third determination module is used to determine the current state of the target vehicle based on the vehicle speed, the wheel slip rate, the number of slipping wheels, the vehicle acceleration, and the wheel acceleration; a correction module, the correction module is used to correct the target vehicle speed of the target vehicle based on the current state, where the target vehicle speed is used to guide the driving of the target vehicle.

[0016] Optionally, the third determination module is further configured to determine that the target vehicle switches from the normal driving state to the pre-stuck state in response to the wheel slip rate, the number of slipping wheels, the vehicle acceleration, and the wheel acceleration satisfying a first preset condition, where the first preset condition includes that the number of slipping wheels is greater than or equal to a first value, the wheel slip rate of the slipping wheels is greater than a first slip rate, and the difference between the wheel acceleration and the vehicle acceleration is greater than a first threshold.

[0017] Optionally, the third determination module is further configured to determine that the target vehicle switches from a pre-stuck state to a stuck state in response to the vehicle speed, wheel slip ratio, number of wheel slips, vehicle acceleration, and wheel acceleration satisfying a second preset condition, where the second preset condition includes that the number of wheel slips is greater than or equal to a second value, the wheel slip ratio of the slipping wheels is greater than a second slip ratio, the difference between the wheel acceleration and the vehicle acceleration is greater than a second threshold, and the vehicle speed is less than a first speed, and the second value is greater than the first value.

[0018] Optionally, the third determination module is further configured to determine that the target vehicle switches from a stuck state to a pre-unstuck state in response to the vehicle speed, wheel slip ratio, and number of wheel slips satisfying a third preset condition, where the third preset condition includes that the number of wheel slips is less than or equal to a third value, the wheel slip ratio of the slipping wheels is less than a third slip ratio, and the vehicle speed is greater than a second speed, and the third value is greater than the second value.

[0019] Optionally, the third determination module is further configured to determine that the target vehicle switches from a pre-unstuck state to a normal driving state in response to the vehicle speed, wheel slip ratio, number of wheel slips, vehicle acceleration, and wheel acceleration satisfying a fourth preset condition, where the fourth preset condition includes that the number of wheel slips is less than or equal to a second value, the wheel slip ratio of the slipping wheels is less than a fourth slip ratio, the difference between the wheel acceleration and the vehicle acceleration is less than a third threshold, and the vehicle speed is greater than a third speed.

[0020] Optionally, the third determination module is further configured to determine that the target vehicle switches from a pre-stuck state to a normal driving state in response to the wheel slip ratio and the number of wheel slips satisfying a fifth preset condition, where the fifth preset condition includes that the number of wheel slips is less than or equal to a second value and the wheel slip ratio of the slipping wheels is less than a first slip ratio.

[0021] Optionally, the third determination module is further configured to determine that the target vehicle switches from a pre-unstuck state to a stuck state in response to the vehicle speed, wheel slip ratio, and number of wheel slips satisfying a sixth preset condition, where the sixth preset condition includes that the number of wheel slips is greater than or equal to a third value, the wheel slip ratio of the slipping wheels is greater than a third slip ratio, and the vehicle speed is less than a second speed.

[0022] Optionally, the correction module is further configured to obtain the target object's requested vehicle speed and determine the wheel acceleration change rate based on the wheel acceleration; in response to the target vehicle being in a normal driving state, the target vehicle speed is the target object's requested vehicle speed; or in response to the target vehicle being in a pre-stuck state, the target vehicle speed is determined based on the target object's requested vehicle speed, the average value of the wheel slip rates of the slipping wheels, the vehicle speed, and a first preset formula; or in response to the target vehicle being in a stuck state, the target vehicle speed is calibrated based on the working condition of the target vehicle and a preset speed range; or in response to the target vehicle being in a pre-unstuck state, the target vehicle speed is determined based on the vehicle speed, the average value of the wheel accelerations, the average value of the wheel acceleration change rates, and a second preset formula.

[0023] Optionally, the acquisition module is further configured to, in response to the target vehicle being in a preset driving state, acquire the left front wheel speed, the right front wheel speed, the left rear wheel speed, and the right rear wheel speed of the target vehicle; sort the left front wheel speed, the right front wheel speed, the left rear wheel speed, and the right rear wheel speed, and estimate the vehicle speed based on the second largest wheel speed.

[0024] An embodiment of the present application provides a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the stuck vehicle and unstuck state recognition control method in any one of the above when running on a computer or a processor.

[0025] An embodiment of the present application provides an electronic device, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to execute the stuck vehicle and unstuck state recognition control method in any one of the above.

[0026] An embodiment of the present application provides a computer program product, including a computer program, where the computer program implements the stuck vehicle and unstuck state recognition control method in any one of the above when executed by a processor. Description of the Drawings

[0027] Figure 1 is a flowchart of the stuck vehicle and unstuck state recognition control method provided by an embodiment of the present application;

[0028] Figure 2 is an interaction diagram of the stuck vehicle and unstuck state recognition control system provided by an embodiment of the present application;

[0029] Figure 3 is a system block diagram of the stuck vehicle and unstuck state recognition and vehicle speed correction provided by an embodiment of the present application;

[0030] Figure 4 is a stuck state logic judgment diagram provided by an embodiment of the present application;

[0031] Figure 5 is a structure diagram of the stuck vehicle and unstuck state recognition control device provided by an embodiment of the present application;

[0032] Figure 6 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to make the technical problems, technical solutions and beneficial effects solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0034] In the present application, the whole vehicle stuck and escape state identification and control method refers to a method for identifying and responding to the vehicle stuck state in complex terrain (such as desert, mud, etc.), which combines the vehicle's physical parameters, such as wheel speed, wheel acceleration, slip rate, etc., to determine whether the vehicle is stuck and the severity of the stuck state, and adjusts the vehicle speed and driving torque accordingly to help the vehicle escape.

[0035] The slip ratio is a parameter that characterizes the degree of wheel slippage relative to the ground and is usually defined as the ratio of the absolute value of the difference between the linear velocity of the wheel and the actual speed of the vehicle to the actual speed of the vehicle.

[0036] Off-road cruise control is a vehicle driving assistance system designed specifically for off-road or complex terrain. It can maintain stable vehicle driving at low speeds, and automatically adjust the vehicle speed and power output to enhance the vehicle's off-road performance, especially when the vehicle is stuck or getting out of trouble.

[0037] A method for identifying and controlling a vehicle stuck and escaping from a jammed vehicle provided in an embodiment of the present application comprises: first obtaining the wheel speed, wheel acceleration, vehicle speed and vehicle acceleration of the target vehicle, and determining the wheel slip rate based on the wheel speed and vehicle speed, and determining the number of wheel slips based on the wheel slip rate; then determining the current state of the target vehicle based on the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration; and finally correcting the target vehicle speed of the target vehicle based on the current state, wherein the target vehicle speed is used to guide the driving of the target vehicle, thereby accurately judging the stuck state of the target vehicle, and correcting the speed of the target vehicle based on the current stuck state, so that the target vehicle can escape from the jam, thereby solving the technical problems in the related art that the stuck state of the target vehicle cannot be accurately judged when the vehicle speed is low, and the vehicle escape cannot be controlled according to the precise stuck state of the vehicle.

[0038] Embodiment 1

[0039] Figure 1 is a flow chart of a method for identifying and controlling a vehicle trapped and escaping from a trapped state provided by an embodiment of the present application. Figure 1 As shown, the embodiment of the present application provides a method for identifying and controlling a stuck vehicle escape state, comprising the following steps:

[0040] Step S10: obtaining the wheel speed, wheel acceleration, vehicle speed and vehicle acceleration of the target vehicle;

[0041] In the embodiment of the present invention, the target vehicle can be understood as a vehicle that needs to be trapped and escaped. For example, the target vehicle can be any vehicle equipped with corresponding sensors and control systems, especially off-road vehicles that are often driven in complex terrains such as sand, mud or snow. The target vehicle here is not limited.

[0042] Wheel speed can be understood as the speed at which each wheel of the target vehicle rotates, which is usually measured by the distance the wheel rotates per unit time. The wheel speed can be directly measured by the speed sensor on the wheel.

[0043] Wheel acceleration can be understood as the rate of change of wheel speed over time, that is, the change in wheel speed per unit time.

[0044] The vehicle speed can be understood as the actual speed of the target vehicle along the direction of travel. For example, the vehicle speed in the present application is estimated based on the wheel speed, and the vehicle speed estimation has high accuracy and does not rely on satellite navigation.

[0045] Vehicle acceleration can be understood as the rate of change of the target vehicle speed over time.

[0046] In the embodiment of the present invention, the wheel speed, wheel acceleration, vehicle speed and vehicle acceleration of the target vehicle are obtained to provide a basis for subsequent identification of the trapped vehicle state, so as to achieve efficient and safe escape actions.

[0047] Step S12: determining the wheel slip rate based on the wheel speed and the vehicle speed;

[0048] In the embodiment of the present invention, the wheel slip rate may be understood as the actual sliding degree of the wheel relative to the ground.

[0049] Determining the wheel slip rate based on the wheel speed and the vehicle speed can be understood as calculating the wheel slip rate using the wheel speed and the vehicle speed. For example, the slip rate calculation formula S = (VC-V) / V×100%, where VC is the wheel speed and V is the vehicle speed, can be used to calculate the slip rate of each wheel. The slip rate calculation formula here is not limited.

[0050] In the embodiment of the present invention, the wheel slip rate is determined based on the wheel speed and the vehicle speed, and then the state of each wheel of the target vehicle can be determined to help the target vehicle escape from trouble as soon as possible.

[0051] Step S14: determining the number of wheel slips based on the wheel slip rate;

[0052] In the embodiment of the present invention, the number of wheel slips may be understood as the number of wheels among the four wheels having a slip rate exceeding a preset threshold during the driving process of the target vehicle.

[0053] Determining the number of wheel slips based on the wheel slip rate can be understood as judging the slip condition of each wheel based on the wheel slip rate, thereby determining the number of slipping wheels. For example, if the wheel slip rate S>3%, it is considered that the wheel is slipping, and the threshold for determining wheel slip is not limited here.

[0054] In the embodiment of the present invention, the number of wheel slips is determined based on the wheel slip rate, which can guide the control system of the target vehicle to take more sophisticated escape measures.

[0055] Step S16: determining the current state of the target vehicle based on the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration;

[0056] In the embodiment of the present invention, the current state of the target vehicle can be understood as information reflecting whether the target vehicle is stuck, the degree of being stuck, the driving dynamics state of the target vehicle, and whether the target vehicle is recovering from being stuck. The current state of the target vehicle is not limited here.

[0057] Determining the current state of the target vehicle based on the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration can be understood as determining the current stuck state of the target vehicle using the target vehicle's current vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration.

[0058] In an embodiment of the present invention, based on the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration, the current state of the target vehicle can be determined more accurately, thereby significantly improving the driving safety and control efficiency of the target vehicle during the process of getting stuck and getting out of trouble.

[0059] Step S18: Correcting the target speed of the target vehicle based on the current state, wherein the target speed is used to guide the driving of the target vehicle.

[0060] In the embodiment of the present invention, the target vehicle speed may be understood as an ideal or expected driving speed set by the vehicle control system in the currently identified driving state in order to achieve safe driving or smooth escape.

[0061] Correcting the target speed of the target vehicle based on the current state can be understood as the vehicle control system needs to automatically adjust the ideal driving speed of the target vehicle, that is, the target speed, according to the vehicle state parameters monitored in real time during vehicle driving, especially when facing complex terrain or stuck conditions.

[0062] In the embodiments of the present invention, the target vehicle speed is corrected based on the current state, achieving the multiple goals of automatically adjusting the driving speed by analyzing vehicle state parameters in real time, so as to improve driving safety, enhance the vehicle's ability to get out of trouble, reduce the driver's burden, and optimize energy utilization.

[0063] A method for identifying and controlling the state of a vehicle stuck in a rut provided by an embodiment of the present application includes: first, obtaining the wheel speed, wheel acceleration, vehicle speed, and vehicle acceleration of the target vehicle, determining the wheel slip ratio based on the wheel speed and vehicle speed, and determining the number of slipping wheels based on the wheel slip ratio, and then determining the current state of the target vehicle based on the vehicle speed, wheel slip ratio, number of slipping wheels, vehicle acceleration, and wheel acceleration. Finally, correcting the target vehicle speed of the target vehicle based on the current state, where the target vehicle speed is used to guide the driving of the target vehicle, achieving the accurate judgment of the stuck state of the target vehicle and correcting the speed of the target vehicle based on the current stuck state, so that the vehicle can achieve the purpose of getting out of trouble, and further solving the technical problems in the related art that when the vehicle speed is low, it is impossible to accurately judge the stuck state of the target vehicle and it is impossible to control the vehicle to get out of trouble according to the accurate stuck state of the vehicle.

[0064] Optionally, in step S16, the current state includes a normal driving state and a pre-stuck state. Determining the current state of the target vehicle based on the wheel slip ratio, the number of slipping wheels, the vehicle acceleration, and the wheel acceleration includes the following steps:

[0065] Step S161, in response to the wheel slip ratio, the number of slipping wheels, the vehicle acceleration, and the wheel acceleration satisfying the first preset condition, determining that the target vehicle switches from the normal driving state to the pre-stuck state, where the first preset condition includes that the number of slipping wheels is greater than or equal to the first value, the wheel slip ratio of the slipping wheels is greater than the first slip ratio, and the difference between the wheel acceleration and the vehicle acceleration is greater than the first threshold.

[0066] In the embodiments of the present invention, the normal driving state can be understood as the normal off-road cruise mode of the target vehicle without getting stuck.

[0067] The pre-stuck state can be understood as the target vehicle is approaching the edge of getting stuck but has not completely fallen into it.

[0068] The first value can be understood as the threshold of the number of slipping wheels, used to define whether the target vehicle switches from the normal driving state to the pre-stuck state. Exemplarily, the first value is set to 1, that is, when one or more wheels start to show signs of slipping, the vehicle system will determine that the target vehicle enters the pre-stuck state, and the first value is not limited here.

[0069] The first slip ratio can be understood as a parameter used to quantify the degree of reduction in friction between the wheel and the ground. For example, when the wheel slip ratio exceeds the first slip ratio sl_1, the system believes that the grip between the wheel and the ground has begun to weaken, and the target vehicle has a risk of being trapped. The specific value of the first slip ratio sl_1 needs to be set according to the characteristics of the target vehicle and the expected driving environment, and the specific value of the first slip ratio sl_1 is not limited here.

[0070] The first threshold value can be understood as the difference threshold between the wheel acceleration and the target vehicle acceleration. For example, when the target vehicle enters the pre-sinking state, the acceleration of the slipping wheel will be significantly higher than the overall acceleration of the target vehicle, that is, the difference between the wheel acceleration and the target vehicle acceleration will be greater than the first threshold value a, and the first threshold value a is not limited here.

[0071] In response to the wheel slip rate, the number of wheel slips, the vehicle acceleration and the wheel acceleration satisfying the first preset condition, determining that the target vehicle switches from the normal driving state to the pre-trapped vehicle state can be understood as follows: when the number of wheel slips is greater than or equal to 1, the wheel slip rate of the slipping wheel is greater than sl_1, and the difference between the wheel acceleration and the vehicle acceleration is greater than a, it can be determined that the target vehicle switches from the normal driving state to the pre-trapped vehicle state.

[0072] In an embodiment of the present invention, by setting a first numerical value, a first slip ratio and a first threshold value, when relevant parameters of the target vehicle reach preset conditions, the system can promptly identify that the target vehicle is in a pre-trapped vehicle state, thereby actively taking measures to intervene based on the pre-trapped vehicle state, thereby avoiding or alleviating the trapped vehicle situation and improving driving safety and the target vehicle's ability to escape from trouble.

[0073] Optionally, in step S16, the current state further includes a stuck vehicle state, and determining the current state of the target vehicle based on the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration includes the following steps:

[0074] Step S162, in response to the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration satisfying the second preset condition, determine that the target vehicle switches from the pre-trapped vehicle state to the trapped vehicle state, wherein the second preset condition includes that the number of wheel slips is greater than or equal to a second value, the wheel slip rate of the slipping wheel is greater than the second slip rate, the difference between the wheel acceleration and the vehicle acceleration is greater than a second threshold, the vehicle speed is less than the first speed, and the second value is greater than the first value.

[0075] In the embodiment of the present invention, the second value can be understood as a higher threshold value that the number of wheel slips needs to reach or exceed when switching from the pre-stuck state to the stuck state. For example, the first value is set to 2, that is, when 2 or more wheels begin to show signs of slipping, the vehicle system will determine that the target vehicle has entered the stuck state, and the first value is not limited here.

[0076] The second slip ratio can be understood as a slip ratio threshold for determining the vehicle entering the stuck state from the pre-stuck state. For example, when the wheel slip ratio exceeds the second slip ratio sl_2, the system considers that the grip between the wheel and the ground has weakened and the target vehicle is at risk of being stuck. The specific value of the second slip ratio sl_2 needs to be set according to the vehicle characteristics and the expected driving environment, and the specific value of the second slip ratio sl_2 is not limited here.

[0077] The second threshold value can be understood as the greater limit that the difference between the wheel acceleration and the vehicle acceleration must exceed when the vehicle enters the stuck state from the pre-stuck state. For example, when the target vehicle enters the stuck state, the acceleration of the slipping wheel will be significantly higher than the overall acceleration of the vehicle, that is, the difference between the wheel acceleration and the target vehicle acceleration will be greater than the second threshold value b, and the second threshold value b is not limited here.

[0078] The first speed can be understood as a speed threshold for determining whether the vehicle has entered a stuck state. For example, the first speed can be set to 5km / h. When the vehicle speed is lower than 5km / h, the system will determine that the vehicle has entered a stuck state based on the number of wheel slips, wheel slip rate, and the difference between the wheel acceleration and the target vehicle acceleration. Here, the first speed is not limited.

[0079] In response to the vehicle speed, wheel slip rate, number of wheel skids, vehicle acceleration and wheel acceleration satisfying the second preset condition, determining that the target vehicle switches from the pre-trapped vehicle state to the trapped vehicle state can be understood as follows: when the number of wheel slips is greater than or equal to 2, the wheel slip rate of the slipping wheel is greater than sl_2, and the difference between the wheel acceleration and the vehicle acceleration is greater than b, it can be determined that the target vehicle switches from the pre-trapped vehicle state to the trapped vehicle state.

[0080] In the embodiment of the present invention, by setting the second numerical value, the second slip rate, the second threshold value and the first speed, the system can more accurately identify the occurrence of the stuck vehicle state, avoid unnecessary escape intervention, and ensure that the target vehicle can respond when it is in the stuck vehicle state and initiate effective escape measures.

[0081] Optionally, in step S16, the current state also includes a pre-escaping state, and determining the current state of the target vehicle based on the vehicle speed, the wheel slip rate, and the number of wheel slips includes the following steps:

[0082] Step S163, in response to the vehicle speed, wheel slip ratio, and number of wheel slips satisfying the third preset condition, determine that the target vehicle switches from the stuck state to the pre-unstuck state, where the third preset condition includes that the number of wheel slips is less than or equal to a third value, the wheel slip ratio of the slipping wheels is less than a third slip ratio, and the vehicle speed is greater than a second speed, and the third value is greater than the second value.

[0083] In the embodiments of the present invention, the third value can be understood as the threshold of the number of wheel slips when switching from the stuck state to the pre-unstuck state. Exemplarily, the third value is set to 3, that is, when no more than 3 wheels show signs of slipping, the target vehicle system will determine that the target vehicle enters the pre-unstuck state. The third value is not limited here.

[0084] The third slip ratio can be understood as the judgment threshold of the wheel slip ratio, which is used to determine whether the target vehicle starts to change towards the unstuck direction from the deep stuck condition. Exemplarily, when the wheel slip ratio exceeds the third slip ratio sl_3, the system believes that the grip between the wheel and the ground has weakened, and the target vehicle has a tendency of pre-unstuck. The specific value of the third slip ratio sl_3 needs to be set according to the characteristics of the target vehicle and the expected driving environment. The specific value of the third slip ratio sl_3 is not limited here.

[0085] The second speed can be understood as a speed threshold, which is used to judge whether the target vehicle has started to get out of the influence of the adverse terrain and regain sufficient driving speed. Exemplarily, the second speed can be set to 3 km / h. When the vehicle speed is greater than 3 km / h, combined with the number of wheel slips and the wheel slip ratio, the system will determine that the target vehicle has entered the pre-unstuck state. The second speed is not limited here.

[0086] Determining that the target vehicle switches from the stuck state to the pre-unstuck state in response to the vehicle speed, wheel slip ratio, and number of wheel slips satisfying the third preset condition can be understood as that when the number of wheel slips is less than or equal to 3, the wheel slip ratio of the slipping wheels is less than sl_3, and the vehicle speed is greater than 3 km / h, it can be determined that the target vehicle switches from the stuck state to the pre-unstuck state.

[0087] In the embodiments of the present invention, by setting the third value, the third slip ratio, and the second speed, the system can timely capture the signals of the reduction of wheel slip phenomenon and the gradual recovery of vehicle speed, indicating that the target vehicle starts to get out of the adverse terrain and changes towards the pre-unstuck state. Timely identifying this trend helps the system quickly adjust the control strategy to avoid unnecessary energy waste and excessive intervention.

[0088] Optionally, in step S16, based on the vehicle speed, wheel slip ratio, number of wheel slips, vehicle acceleration, and wheel acceleration, determine the current state of the target vehicle, including the following steps:

[0089] Step S164, in response to the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration satisfying the fourth preset condition, determine that the target vehicle switches from the pre-escaping state to the normal driving state, wherein the fourth preset condition includes that the number of wheel slips is less than or equal to the second value, the wheel slip rate of the slipping wheel is less than the fourth slip rate, the difference between the wheel acceleration and the vehicle acceleration is less than the third threshold value, and the vehicle speed is greater than the third speed.

[0090] In the embodiment of the present invention, the fourth slip ratio can be understood as a slip ratio threshold used to determine whether the wheel slip condition has recovered to a level sufficient to ensure normal driving when the pre-escaping state is transformed into the normal driving state. Exemplarily, when the wheel slip ratio exceeds the fourth slip ratio sl_4, the system considers that the grip between the wheel and the ground is weak, and the target vehicle has a tendency to drive normally, wherein the specific value of the fourth slip ratio sl_4 needs to be set according to the characteristics of the target vehicle and the expected driving environment.

[0091] The third threshold value can be understood as the upper limit of the difference between the wheel acceleration and the vehicle acceleration when the pre-escaping state is converted to the normal driving state. For example, when the target vehicle enters the normal driving state, the acceleration of the slipping wheel will be slightly higher than the overall acceleration of the vehicle, that is, the difference between the wheel acceleration and the target vehicle acceleration will be less than the third threshold value c, and the third threshold value c is not limited here.

[0092] The third speed can be understood as the minimum vehicle speed required to switch from the pre-escaping state to the normal driving state. For example, the third speed can be set to 6km / h. When the vehicle speed is greater than 6km / h, the system will determine that the vehicle has entered the normal driving state based on the number of wheel slips, wheel slip rate, and the difference between the wheel acceleration and the target vehicle acceleration. Here, the third speed is not limited.

[0093] In response to the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration satisfying the fourth preset condition, determining that the target vehicle switches from the pre-escaping state to the normal driving state can be understood as follows: when the number of wheel slips is less than or equal to 2, the wheel slip rate of the slipping wheel is less than sl_4, and the difference between the wheel acceleration and the vehicle acceleration is less than c, it can be determined that the target vehicle switches from the pre-escaping state to the normal driving state.

[0094] In the embodiment of the present invention, by setting the fourth slip ratio, the third threshold value and the third speed, the target vehicle control system can ensure that during the transition from the pre-escaping state to the normal driving state, the grip of the wheels with the ground has been restored to a level sufficient to support normal driving, thereby achieving a smooth and safe driving state transition.

[0095] Optionally, in step S16, to determine the current state of the target vehicle based on the wheel slip ratio and the number of slipping wheels, the following steps are further included:

[0096] Step S165, in response to the wheel slip ratio and the number of slipping wheels satisfying the fifth preset condition, determine that the target vehicle switches from the pre-stuck state to the normal driving state, where the fifth preset condition includes that the number of slipping wheels is less than or equal to the second value and the wheel slip ratio of the slipping wheels is less than the first slip ratio.

[0097] In the embodiment of the present invention, determining that the target vehicle switches from the pre-stuck state to the normal driving state in response to the wheel slip ratio and the number of slipping wheels satisfying the fifth preset condition can be understood as that when the number of slipping wheels is less than or equal to 2 and the wheel slip ratio is less than sl_1, the target vehicle will switch from the pre-stuck state to the normal driving state.

[0098] In the embodiment of the present invention, by setting the thresholds of the number of slipping wheels and the wheel slip ratio in the fifth preset condition, the system can return to the normal driving state in advance when the wheel slip condition is effectively controlled and the vehicle has not completely fallen into an unfavorable terrain, which helps the target vehicle quickly adjust to the best driving mode and improve the driving efficiency when encountering a slight vehicle stuck situation.

[0099] Optionally, in step S16, to determine the current state of the target vehicle based on the vehicle speed, the wheel slip ratio, and the number of slipping wheels, the following steps are further included:

[0100] Step S166, in response to the vehicle speed, the wheel slip ratio, and the number of slipping wheels satisfying the sixth preset condition, determine that the target vehicle switches from the pre-unstuck state to the stuck state, where the sixth preset condition includes that the number of slipping wheels is greater than or equal to the third value, the wheel slip ratio of the slipping wheels is greater than the third slip ratio, and the vehicle speed is less than the second speed.

[0101] In the embodiment of the present invention, determining that the target vehicle switches from the pre-unstuck state to the stuck state in response to the vehicle speed, the wheel slip ratio, and the number of slipping wheels satisfying the sixth preset condition can be understood as that when the number of slipping wheels is greater than or equal to 3, the wheel slip ratio of the slipping wheels is greater than sl_3, and the vehicle speed is less than 3 km / h, it can be determined that the target vehicle switches from the pre-unstuck state to the stuck state.

[0102] In the embodiment of the present invention, by setting the sixth preset condition, including the threshold values of the number of wheel slips, wheel slip rate and vehicle speed, the system can accurately judge the actual state of the target vehicle in the pre-escaping process. If it is detected that the wheel slip situation deteriorates, exceeds the preset third value and third slip rate, and the vehicle speed fails to remain above the second speed, it indicates that the escape attempt of the target vehicle has failed, and it is necessary to re-execute the control strategy in the stuck state, thereby avoiding improper control due to wrong judgment and enhancing the reliability and accuracy of the system.

[0103] Optionally, in step S18, the current state includes a normal driving state, a pre-trapped vehicle state, a trapped vehicle state, and a pre-escaped vehicle state, and correcting the target vehicle speed based on the current state of the target vehicle includes the following steps:

[0104] Step S181, obtaining the vehicle speed requested by the target object, and determining the wheel acceleration change rate based on the wheel acceleration;

[0105] Step S182, in response to the target vehicle being in a normal driving state, the target vehicle speed is the vehicle speed requested by the target object; or

[0106] Step S183, in response to the target vehicle being in a pre-sinking state, determining a target vehicle speed based on a vehicle speed requested by the target object, an average of wheel slip rates of the slipping wheels, the vehicle speed, and a first preset formula; or

[0107] Step S184, in response to the target vehicle being stuck, calibrating a target vehicle speed based on the operating condition of the target vehicle and a preset speed range; or

[0108] Step S185, in response to the target vehicle being in a pre-escaping state, determining a target vehicle speed based on the vehicle speed, the average value of the wheel acceleration, the average value of the wheel acceleration change rate, and a second preset formula.

[0109] In the embodiment of the present invention, the vehicle speed requested by the target object may be understood as the vehicle speed directly set or requested through the human-computer interaction interface of the target vehicle.

[0110] The first preset formula can be understood as a formula for correcting the target vehicle speed when the target vehicle is in a pre-sinking state. Exemplarily, the first preset formula is target vehicle speed = target object requested vehicle speed - (slip ratio of the slipping wheel) / N * vehicle speed, and the first preset formula is not limited here.

[0111] The preset speed range can be understood as a constant target speed range calibrated by the system and suitable for the target vehicle to escape when the target vehicle is stuck. For example, the preset speed range can be 1km / h to 3km / h, and the preset speed range is not limited here.

[0112] The second preset formula can be understood as a formula for correcting the target vehicle speed when the target vehicle is in a pre-escaping state. Exemplarily, the second preset formula is target vehicle speed = vehicle speed + (sum of accelerations of each wheel / 4) + (sum of acceleration change rates of each wheel / 4).

[0113] In response to the target vehicle being in a normal driving state, the target speed is the target object requested speed. It can be understood that when the target vehicle is in a normal driving state, the intervention of the vehicle escape control system is the lowest. At this time, the target speed is directly equal to the speed requested by the driver, that is, the target object requested speed.

[0114] In response to the target vehicle being in a pre-stuck state, the target vehicle speed is determined based on the target object's requested speed, the average value of the wheel slip rate of the slipping wheel, the vehicle speed, and the first preset formula. It can be understood that in the pre-stuck state, the system begins to detect early signs that the target vehicle may encounter adverse terrain (such as mud or sand), such as the slip rate between the wheel speed and the vehicle speed begins to increase. At this time, the target vehicle speed will be corrected based on the driver's requested speed, the average value of the wheel slip rate of the slipping wheel, the current vehicle speed, and the first preset formula. The goal of the correction is to slow down the forward speed of the target vehicle and increase the torque of the drive wheel to avoid further getting stuck.

[0115] In response to the target vehicle being stuck, the target speed is calibrated based on the target vehicle's operating condition and the preset speed range. It can be understood that when the target vehicle is stuck in unfavorable terrain, such as sand or mud pits, and the system detects a continuous high slip rate and multiple slipping wheels, the target vehicle has entered the stuck state. In this case, the target speed is no longer directly dependent on the driver's request, but is calibrated according to the target vehicle's current operating condition and the preset speed range, thereby providing sufficient torque to help the target vehicle gradually get out of the stuck state.

[0116] In response to the target vehicle being in a pre-escape state, the target vehicle speed is determined based on the vehicle speed, the average value of the wheel acceleration, the average value of the wheel acceleration change rate, and the second preset formula. It can be understood that in the pre-escape state, the target vehicle begins to show signs of escaping from the unfavorable terrain, such as a decrease in the number of slipping wheels and a decrease in the slip rate. At this time, the target vehicle speed will be corrected based on the current vehicle speed, the average value of the wheel acceleration, the average value of the wheel acceleration change rate, and the second preset formula. The purpose of the correction is to accelerate the vehicle's escape process, and by appropriately increasing the target vehicle speed, the target vehicle is prompted to stably escape from the unfavorable terrain.

[0117] In the embodiment of the present invention, by reasonably adjusting the target vehicle speed under different driving conditions of the target vehicle, especially in the pre-trapped and trapped states, excessive idling of the wheels and excessive load on the power system are avoided, the wear of the tires and other vehicle parts is reduced, and the target vehicle is helped to return to a normal driving state.

[0118] Optionally, determining the vehicle speed based on the wheel speed comprises the following steps:

[0119] In response to the target vehicle being in a preset driving state, obtaining a left front wheel speed, a right front wheel speed, a left rear wheel speed, and a right rear wheel speed of the target vehicle;

[0120] The left front wheel speed, the right front wheel speed, the left rear wheel speed, and the right rear wheel speed are ranked, and the vehicle speed is estimated based on the second largest wheel speed.

[0121] In the embodiment of the present invention, the preset driving state can be understood as a normal driving state of the target vehicle during driving.

[0122] In response to the target vehicle being in a preset driving state, obtaining the left front wheel speed, right front wheel speed, left rear wheel speed and right rear wheel speed of the target vehicle can be understood as obtaining the wheel speeds of the four wheels of the target vehicle, i.e., the left front wheel speed, right front wheel speed, left rear wheel speed and right rear wheel speed, when the target vehicle is in a normal driving state.

[0123] Sorting the left front wheel speed, the right front wheel speed, the left rear wheel speed and the right rear wheel speed, and estimating the vehicle speed based on the second largest wheel speed can be understood as sorting the left front wheel speed, the right front wheel speed, the left rear wheel speed and the right rear wheel speed from large to small, and estimating the actual speed of the target vehicle based on the second largest wheel speed.

[0124] In the embodiment of the present invention, the vehicle speed is estimated based on the wheel speed, and more reasonable control decisions can be made based on the vehicle speed, such as adjusting the driving torque, correcting the target vehicle speed, etc., thereby improving the driving safety and escape ability of the target vehicle under complex road conditions.

[0125] Figure 2 is an interactive diagram of a vehicle trapped escape state recognition control system provided by an embodiment of the present application, such as Figure 2As shown, the vehicle stuck escape state recognition and control system includes a wheel speed calculation unit, a vehicle speed estimation unit, a vehicle speed request unit, a vehicle signal processing unit, a vehicle stuck state recognition and vehicle speed correction, and a vehicle speed control unit. The signals that need to be provided are: the real-time wheel speeds of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, the wheel accelerations of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, the wheel acceleration change rate of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, the estimated vehicle speed, the target object's requested speed, the vehicle's longitudinal acceleration, the vehicle's lateral acceleration, and the vehicle's driving torque.

[0126] First, according to the wheel speed signal collected by the wheel speed sensor, the wheel speed calculation unit calculates the wheel speed of each wheel, and estimates the running speed of the target vehicle based on the wheel speed. The estimated speed can provide real-time feedback on the running speed of the target vehicle, thereby getting rid of the dependence on satellite positioning. When the vehicle is stuck, vehicle speed judgment is one of the important conditions. Then, the wheel speed calculation unit calculates the change in the acceleration of each wheel, and monitors the wheel acceleration as a parameter factor. According to the wheel speed of each wheel and the actual vehicle speed, the slip rate of each wheel is calculated by the slip rate calculation formula S = (VC-V) / V×100%, where VC is the wheel speed and V is the vehicle speed. The larger the slip rate of each wheel, the more likely the target vehicle is stuck. If the slip rate is 0, it means that the wheel speed is the same as the vehicle speed and there is no slip. When it is greater than 3%, it means that the wheel speed is faster than the vehicle speed and the target vehicle wheel is slipping. Then the number of wheels whose slip rate exceeds the threshold value is judged. When more than or equal to 3 wheels are slipping, the stuck state is judged in combination with other judgment conditions. The vehicle acceleration is compared with the average value of the wheel acceleration. When it is identified that the target vehicle has a tendency to escape, the wheel target speed is increased to achieve the purpose of escape. Finally, according to the identification of the off-road state, the corresponding target speed is output and corrected in different off-road states.

[0127] Figure 3 is a system block diagram of a vehicle stuck state recognition and vehicle speed correction system provided by an embodiment of the present application, such as Figure 3As shown in FIG. 1 , the system block diagram of the vehicle stuck and escape state identification and speed correction includes a vehicle stuck state identification module and a target speed correction module. The target vehicle stuck state is judged by the vehicle stuck state flag. According to different states, the target vehicle speed of each state is output, and the target vehicle speed is corrected. The target vehicle is controlled according to the corrected vehicle speed. The estimation of the stuck state needs to combine the conditions such as slip rate, driving torque, estimated vehicle speed, wheel speed acceleration and wheel acceleration change rate. It contains four states, namely normal driving state, pre-stuck vehicle state, stuck vehicle state and pre-escaped state. The normal driving state is the normal mode of off-road cruise. There is no stuck vehicle. The driver's speed request is not corrected and weighted, and is directly output as the target vehicle speed. The pre-stuck vehicle state is in a state that is not completely stuck. The vehicle speed needs to be partially corrected, and the speed needs to be reduced and the torque needs to be increased to restore the target vehicle to normal driving. The stuck vehicle state means that the target vehicle has been completely stuck in the sand or mud, and the speed needs to be further reduced and the torque needs to be increased. The speed can be calibrated according to the actual situation. The pre-escape state is the critical point for the target vehicle to escape from the pit. At this time, it is necessary to increase the speed, reduce the torque and increase the speed to quickly drive the target vehicle out of the pit. By adjusting the speed in each different state of the target vehicle and judging according to the input conditions, the state of the target vehicle can be identified.

[0128] Figure 4 This is a logic judgment diagram of a stuck vehicle state provided by an embodiment of the present application, such as Figure 4 As shown, through the activation flag sent by the CCO (off-road cruise control) pre-processing module and the driver's requested speed, the vehicle enters the non-stuck state (normal driving state). In this state, the target speed of the speed control module can be the driver's requested speed. At this time, it is considered that the CCO low-speed off-road cruise mode is entered, and the target speed is less than 15km / h. There is no slippage on each wheel. When the target vehicle passes through sand or mud, the ground adhesion becomes smaller, causing some wheels to slip slightly (the number of slipping wheels ≥ 1), and the slip rate of the slipping wheels has obvious changes (the slip rate of each wheel is > sl_1). The wheel acceleration will be significantly greater than the vehicle acceleration (wheel acceleration-vehicle acceleration> a). Therefore, it can be judged that the target vehicle has entered the pre-stuck state stage.

[0129] In the pre-stuck state, the flag of the pre-stuck state is given to the vehicle speed correction module, and the corrected target vehicle speed = the driver's requested vehicle speed - the sum of the slip rates of the slipping wheels / the number of slipping wheels * the estimated vehicle speed. The target vehicle speed is corrected by the corrected target vehicle speed to get rid of the pre-stuck state. If the number of slipping wheels of the vehicle is <= 2, and the slip rate of the slipping wheels is less than the threshold value sl_1, the stuck state can be restored to the non-stuck state (normal driving state).

[0130] When the target vehicle is stuck (i.e. stuck state), if the following conditions are detected to be met at the same time: the number of slipping wheels ≥ 2, the estimated vehicle speed is less than the threshold value of 5km / h, wheel acceleration - vehicle acceleration>b, and the threshold value for judging the number of slipping wheels and the slip rate>sl_2, then the target vehicle is determined to be stuck. The vehicle stuck flag is set to stuck state. In order for the target vehicle to get out of trouble, it is necessary to correct the target speed output (the target speed is usually output as a calibrated constant speed, which can be set to 1.5km / h based on experience). By reducing the vehicle speed and increasing the torque, the vehicle speed is controlled within an appropriate range to avoid wheels slipping and getting stuck deeper.

[0131] When the target vehicle is about to get out of the pit by reducing the target speed, the following conditions are met: the number of slipping wheels is ≤ 3, and the slip rate of each wheel is less than the threshold <sl_3,估算车速>3km / h,则目标车辆状态跳转至预脱困状态,在此状态需要增加轮速,使车轮尽快脱离陷坑路面,根据预设公式:目标车速=车辆速度+(各车轮加速度的和 / 4)+(各车轮加速度变化率的和 / 4)得出最终的目标车速V。当检测车轮打滑数量≤2,各车轮的滑移率<sl_4,估算车速>6km / h, wheel acceleration - vehicle acceleration <c时,可以判断为车辆已经脱困,目标车辆状态可以从预脱困状态转移到未陷车状态(正常行驶状态),此时目标车速和驾驶员请求车速相等。

[0132] Through the above steps, the ability to identify the stuck state of the target vehicle can be improved, and the correction of the target vehicle speed can be accurately controlled, thereby improving the off-road cruising escape capability and greatly improving the off-road cruising robustness.

[0133] The embodiment of the present invention provides a method for identifying and controlling a stuck vehicle escape state, which can correct the target vehicle speed after the vehicle is stuck, can enhance the vehicle's ability to automatically escape from a stuck vehicle, and has strong robustness for the ability of an off-road vehicle to escape from a stuck vehicle.

[0134] Embodiment 2

[0135] Figure 5 : is a structural diagram of a vehicle trapped escape state recognition control device provided in an embodiment of the present application, such as Figure 5As shown, an embodiment of the present application provides a vehicle stuck and escape state identification control device 500, including: an acquisition module 501, the acquisition module is used to acquire the wheel speed, wheel acceleration, vehicle speed and vehicle acceleration of the target vehicle; a first determination module 502, the first determination module is used to determine the wheel slip rate based on the wheel speed and the vehicle speed; a second determination module 503, the second determination module is used to determine the number of wheel slips based on the wheel slip rate; a third determination module 504, the third determination module is used to determine the current state of the target vehicle based on the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration; a correction module 505, the correction module is used to correct the target speed of the target vehicle based on the current state, wherein the target speed is used to guide the driving of the target vehicle.

[0136] Optionally, the third determination module 504 is also used to determine that the target vehicle switches from a normal driving state to a pre-trapped vehicle state in response to the wheel slip rate, the number of wheel slips, the vehicle acceleration and the wheel acceleration satisfying a first preset condition, wherein the first preset condition includes that the number of wheel slips is greater than or equal to a first value, the wheel slip rate of the slipping wheel is greater than a first slip rate, and the difference between the wheel acceleration and the vehicle acceleration is greater than a first threshold.

[0137] Optionally, the third determination module 504 is also used to determine that the target vehicle switches from a pre-trapped vehicle state to a trapped vehicle state in response to the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration satisfying a second preset condition, wherein the second preset condition includes that the number of wheel slips is greater than or equal to a second value, the wheel slip rate of the slipping wheel is greater than the second slip rate, the difference between the wheel acceleration and the vehicle acceleration is greater than a second threshold, the vehicle speed is less than the first speed, and the second value is greater than the first value.

[0138] Optionally, the third determination module 504 is also used to determine that the target vehicle switches from a stuck state to a pre-escaping state in response to the vehicle speed, wheel slip rate, and number of wheel slips satisfying a third preset condition, wherein the third preset condition includes that the number of wheel slips is less than or equal to a third value, the wheel slip rate of the slipping wheels is less than a third slip rate, the vehicle speed is greater than the second speed, and the third value is greater than the second value.

[0139] Optionally, the third determination module 504 is also used to determine that the target vehicle switches from a pre-escaping state to a normal driving state in response to the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration satisfying a fourth preset condition, wherein the fourth preset condition includes that the number of wheel slips is less than or equal to a second value, the wheel slip rate of the slipping wheel is less than a fourth slip rate, the difference between the wheel acceleration and the vehicle acceleration is less than a third threshold, and the vehicle speed is greater than a third speed.

[0140] Optionally, the third determination module 504 is further configured to determine that the target vehicle switches from the pre-stuck state to the normal driving state in response to the wheel slip ratio and the number of wheel skids satisfying a fifth preset condition, where the fifth preset condition includes that the number of wheel skids is less than or equal to a second value, and the wheel slip ratio of the skidding wheels is less than a first slip ratio.

[0141] Optionally, the third determination module 504 is further configured to determine that the target vehicle switches from the pre-unstuck state to the stuck state in response to the vehicle speed, the wheel slip ratio, and the number of wheel skids satisfying a sixth preset condition, where the sixth preset condition includes that the number of wheel skids is greater than or equal to a third value, the wheel slip ratio of the skidding wheels is greater than a third slip ratio, and the vehicle speed is less than a second speed.

[0142] Optionally, the correction module 505 is further configured to obtain the target object's requested vehicle speed and determine the wheel acceleration change rate based on the wheel acceleration; when the target vehicle is in the normal driving state, the target vehicle speed is the target object's requested vehicle speed; or when the target vehicle is in the pre-stuck state, determine the target vehicle speed based on the target object's requested vehicle speed, the average value of the wheel slip ratios of the skidding wheels, the vehicle speed, and a first preset formula; or when the target vehicle is in the stuck state, calibrate the target vehicle speed based on the working condition of the target vehicle and a preset speed range; or when the target vehicle is in the pre-unstuck state, determine the target vehicle speed based on the vehicle speed, the average value of the wheel accelerations, the average value of the wheel acceleration change rates, and a second preset formula.

[0143] Optionally, the acquisition module 501 is further configured to, when the target vehicle is in a preset driving state, acquire the left front wheel speed, the right front wheel speed, the left rear wheel speed, and the right rear wheel speed of the target vehicle; sort the left front wheel speed, the right front wheel speed, the left rear wheel speed, and the right rear wheel speed, and estimate the vehicle speed based on the second largest wheel speed.

[0144] Embodiment III

[0145] An embodiment of the present application provides a computer-readable storage medium storing a computer program, where the computer program is configured to execute the stuck vehicle and unstuck state recognition control method in any one of the above when running on a computer or a processor, including the following steps:

[0146] Step S10: Acquire the wheel speed, wheel acceleration, vehicle speed, and vehicle acceleration of the target vehicle;

[0147] Step S12: Determine the wheel slip ratio based on the wheel speed and the vehicle speed;

[0148] Step S14: Determine the number of wheel skids based on the wheel slip ratio;

[0149] Step S16: determining the current state of the target vehicle based on the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration;

[0150] Step S18: Correcting the target speed of the target vehicle based on the current state, wherein the target speed is used to guide the driving of the target vehicle.

[0151] A method for identifying and controlling a vehicle stuck and escaping state provided in an embodiment of the present application is applied to the above-mentioned computer-readable storage medium, including: first obtaining the wheel speed, wheel acceleration, vehicle speed and vehicle acceleration of the target vehicle, and determining the wheel slip rate based on the wheel speed and vehicle speed, and determining the number of wheel slips based on the wheel slip rate; then determining the current state of the target vehicle based on the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration; and finally correcting the target vehicle speed of the target vehicle based on the current state, wherein the target vehicle speed is used to guide the driving of the target vehicle, thereby accurately judging the stuck state of the vehicle, and correcting the vehicle speed based on the current stuck state, so that the vehicle can achieve the purpose of escaping from the stuck state, thereby solving the technical problems in the related art that when the vehicle speed is low, the stuck state of the vehicle cannot be accurately judged, and the vehicle escape cannot be controlled according to the precise stuck state of the vehicle.

[0152] Embodiment 4

[0153] Figure 6 is a structural diagram of an electronic device provided in an embodiment of the present application, such as Figure 6 As shown, an embodiment of the present application provides an electronic device 60, including a memory 610 and a processor 620, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any of the above-mentioned methods for identifying and controlling a stuck vehicle escape state, including the following steps:

[0154] Step S10: obtaining the wheel speed, wheel acceleration, vehicle speed and vehicle acceleration of the target vehicle;

[0155] Step S12: determining the wheel slip rate based on the wheel speed and the vehicle speed;

[0156] Step S14: determining the number of wheel slips based on the wheel slip rate;

[0157] Step S16: determining the current state of the target vehicle based on the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration;

[0158] Step S18: Correcting the target speed of the target vehicle based on the current state, wherein the target speed is used to guide the driving of the target vehicle.

[0159] A method for identifying and controlling a vehicle stuck and escaping state provided in an embodiment of the present application is applied to the above-mentioned electronic device, including: first obtaining the wheel speed, wheel acceleration, vehicle speed and vehicle acceleration of the target vehicle, and determining the wheel slip rate based on the wheel speed and vehicle speed, and determining the number of wheel slips based on the wheel slip rate; then determining the current state of the target vehicle based on the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration; and finally correcting the target vehicle speed of the target vehicle based on the current state, wherein the target vehicle speed is used to guide the driving of the target vehicle, thereby accurately judging the vehicle's stuck state and correcting the vehicle speed based on the current stuck state, so that the vehicle can escape from the stuck state, thereby solving the technical problems in the related art that when the vehicle speed is low, the vehicle's stuck state cannot be accurately judged, and the vehicle escape cannot be controlled according to the precise vehicle stuck state.

[0160] Embodiment 5

[0161] The embodiment of the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the computer program implements any of the above-mentioned methods for identifying and controlling a trapped vehicle escape state, including the following steps:

[0162] Step S10: obtaining the wheel speed, wheel acceleration, vehicle speed and vehicle acceleration of the target vehicle;

[0163] Step S12: determining the wheel slip rate based on the wheel speed and the vehicle speed;

[0164] Step S14: determining the number of wheel slips based on the wheel slip rate;

[0165] Step S16: determining the current state of the target vehicle based on the vehicle speed, wheel slip rate, number of wheel slips, vehicle acceleration and wheel acceleration;

[0166] Step S18: Correcting the target speed of the target vehicle based on the current state, wherein the target speed is used to guide the driving of the target vehicle.

[0167] Applying the vehicle stuck state recognition and control method provided in the embodiments of the present application to the above computer program product includes: First, obtain the wheel speed, wheel acceleration, vehicle speed, and vehicle acceleration of the target vehicle, and based on the wheel speed and vehicle speed, determine the wheel slip ratio, and determine the number of slipping wheels based on the wheel slip ratio. Then, based on the vehicle speed, wheel slip ratio, number of slipping wheels, vehicle acceleration, and wheel acceleration, determine the current state of the target vehicle. Finally, correct the target vehicle speed based on the current state, where the target vehicle speed is used to guide the driving of the target vehicle, achieving accurate judgment of the vehicle's stuck state and correcting the vehicle speed based on the current stuck state, so as to enable the vehicle to achieve the purpose of getting out of trouble, and further solving the technical problems in the related art that when the vehicle speed is low, it is impossible to accurately judge the vehicle's stuck state and it is impossible to control the vehicle to get out of trouble according to the accurate vehicle stuck state.

[0168] In the present application, "a plurality of" means two or more.

[0169] In the present application, unless otherwise clearly defined, the terms "installation", "connection", and "coupling" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0170] The terms "first", "second", "third", "fourth", etc. (if any) in the present application are used to distinguish similar objects and do not necessarily describe a specific order or sequence.

[0171] The term "and / or" in the present application is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in the present application generally represents an "or" relationship between the associated objects before and after.

[0172] If there is no special instruction, all steps of the present application can be carried out in sequence or randomly. For example, the method includes steps A and B, indicating that the method may include steps A and B carried out in sequence, or may include steps B and A carried out in sequence. For example, it is mentioned that the method may further include step C, indicating that step C can be added to the method in any order. For example, the method may include steps A, B, and C, or may include steps A, C, and B, or may include steps C, A, and B, etc.

[0173] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for identifying and controlling a vehicle stuck and escaping a state, characterized in that: Including: Obtain the wheel speed, wheel acceleration, vehicle speed, and vehicle acceleration of the target vehicle; Determine the wheel slip ratio based on the wheel speed and the vehicle speed; Determine the number of slipping wheels based on the wheel slip ratio; Determine the current state of the target vehicle based on the vehicle speed, the wheel slip ratio, the number of slipping wheels, the vehicle acceleration, and the wheel acceleration; Modify the target vehicle speed of the target vehicle based on the current state, where the target vehicle speed is used to guide the driving of the target vehicle.

2. The method according to claim 1, characterized in that The current state includes a normal driving state and a pre-stuck state. Determining the current state of the target vehicle based on the wheel slip ratio, the number of slipping wheels, the vehicle acceleration, and the wheel acceleration includes: In response to the wheel slip ratio, the number of slipping wheels, the vehicle acceleration, and the wheel acceleration satisfying a first preset condition, determine that the target vehicle switches from the normal driving state to the pre-stuck state, where the first preset condition includes that the number of slipping wheels is greater than or equal to a first value, the wheel slip ratio of the slipping wheels is greater than a first slip ratio, and the difference between the wheel acceleration and the vehicle acceleration is greater than a first threshold.

3. The method according to claim 2, characterized in that, The current state further includes a stuck state. Determining the current state of the target vehicle based on the vehicle speed, the wheel slip ratio, the number of slipping wheels, the vehicle acceleration, and the wheel acceleration includes: In response to the vehicle speed, the wheel slip ratio, the number of slipping wheels, the vehicle acceleration, and the wheel acceleration satisfying a second preset condition, determine that the target vehicle switches from the pre-stuck state to the stuck state, where the second preset condition includes that the number of slipping wheels is greater than or equal to a second value, the wheel slip ratio of the slipping wheels is greater than a second slip ratio, the difference between the wheel acceleration and the vehicle acceleration is greater than a second threshold, and the vehicle speed is less than a first speed, and the second value is greater than the first value.

4. The method according to claim 3, characterized in that, The current state further includes a pre-unstuck state. Determining the current state of the target vehicle based on the vehicle speed, the wheel slip ratio, and the number of slipping wheels includes: In response to the vehicle speed, the wheel slip ratio, and the number of slipping wheels satisfying a third preset condition, determine that the target vehicle switches from the stuck state to the pre-unstuck state, where the third preset condition includes that the number of slipping wheels is less than or equal to a third value, the wheel slip ratio of the slipping wheels is less than a third slip ratio, and the vehicle speed is greater than a second speed, and the third value is greater than the second value.

5. The method according to claim 4, characterized in that Determining the current state of the target vehicle based on the vehicle speed, the wheel slip ratio, the number of slipping wheels, the vehicle acceleration, and the wheel acceleration includes: In response to the vehicle speed, the wheel slip rate, the number of wheel slips, the vehicle acceleration and the wheel acceleration satisfying a fourth preset condition, it is determined that the target vehicle switches from the pre-escaping state to the normal driving state, wherein the fourth preset condition includes that the number of wheel slips is less than or equal to the second value, the wheel slip rate of the slipping wheel is less than a fourth slip rate, the difference between the wheel acceleration and the vehicle acceleration is less than a third threshold, and the vehicle speed is greater than a third speed.

6. The method according to claim 3, wherein Determining the current state of the target vehicle based on the wheel slip rate and the number of wheel slips, further comprising: In response to the wheel slip rate and the number of wheel slips satisfying a fifth preset condition, it is determined that the target vehicle switches from the pre-trapped vehicle state to the normal driving state, wherein the fifth preset condition includes that the number of wheel slips is less than or equal to the second value and the wheel slip rate of the slipping wheel is less than the first slip rate.

7. The method according to claim 5, characterized in that The determining the current state of the target vehicle based on the vehicle speed, the wheel slip rate, and the number of wheel slips further includes: In response to the vehicle speed, the wheel slip rate, and the number of wheel slips satisfying a sixth preset condition, it is determined that the target vehicle switches from the pre-escaping state to the stuck state, wherein the sixth preset condition includes that the number of wheel slips is greater than or equal to the third value, the wheel slip rate of the slipping wheel is greater than the third slip rate, and the vehicle speed is less than the second speed.

8. The method according to claim 1, wherein The current state includes a normal driving state, a pre-trapped vehicle state, a trapped vehicle state, and a pre-escaped vehicle state. The correcting of the target vehicle speed based on the current state of the target vehicle includes: obtaining a vehicle speed requested by the target object, and determining a wheel acceleration change rate based on the wheel acceleration; In response to the target vehicle being in the normal driving state, the target vehicle speed is the vehicle speed requested by the target object; or In response to the target vehicle being in the pre-sinking state, determining the target vehicle speed based on the target object requested vehicle speed, the average of the wheel slip ratios of the slipping wheels, the vehicle speed, and a first preset formula; or In response to the target vehicle being in the stuck state, calibrating the target vehicle speed based on the operating condition of the target vehicle and a preset speed range; or In response to the target vehicle being in the pre-escape state, the target vehicle speed is determined based on the vehicle speed, the average value of the wheel acceleration, the average value of the wheel acceleration change rate, and a second preset formula.

9. The method according to claim 1, characterized in that Determining the vehicle speed based on the wheel speed includes: In response to the target vehicle being in a preset driving state, obtaining a left front wheel speed, a right front wheel speed, a left rear wheel speed, and a right rear wheel speed of the target vehicle; The left front wheel speed, the right front wheel speed, the left rear wheel speed, and the right rear wheel speed are ranked, and the vehicle speed is estimated based on the second largest wheel speed.

10. A vehicle trapped escape state recognition control device, characterized in that: The device comprises: An acquisition module, the acquisition module is used to acquire the wheel speed, wheel acceleration, vehicle speed and vehicle acceleration of the target vehicle; a first determination module, the first determination module being configured to determine a wheel slip rate based on the wheel speed and the vehicle speed; a second determination module, the second determination module being used to determine the number of wheel slips based on the wheel slip rate; a third determination module, the third determination module being used to determine a current state of the target vehicle based on the vehicle speed, the wheel slip rate, the number of wheel slips, the vehicle acceleration and the wheel acceleration; A correction module is used to correct a target speed of the target vehicle based on the current state, wherein the target speed is used to guide the driving of the target vehicle.

11. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the method for identifying and controlling a trapped vehicle escape state as described in any one of claims 1 to 9 when running on a computer or a processor.

12. An electronic device, comprising a memory and a processor, characterized in that, A computer program is stored in the memory, and the processor is configured to run the computer program to execute the method for identifying and controlling a trapped vehicle escape state as described in any one of claims 1 to 9 above.

13. A computer program product, characterized in that, It includes a computer program, which, when executed by a processor, implements the method for identifying and controlling the trapped vehicle escape state as described in any one of claims 1 to 9 above.

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